Robot movement locus key point error measurement method

The invention relates to a robot movement locus key point error measurement method. According to the method, key discrete point motion error measurement in a robot movement process can be realized, in the robot movement process, a robot is controlled for stopping movement at a certain key point, a tail end actual space point coordinate of the robot at present is acquired through a vision imaging system, a double-prism tracking device generated at the key point generates a theory coordinate of the key point to which place the robot moves, through comparing and calculating the distance between the two points, a robot movement error at a key discrete point can be acquired. The method belongs to a non-contact measurement robot movement locus error method, direct contact with the robot is not required, and movement locus key point error measurement of the robot can be accurately carried out on the condition that no damage to the robot is guaranteed. 本发明涉及种机器人运动轨迹关键点误差测量方法，本发明可以实现机器人运动过程中关键离散点运动误差测量：在机器人运动过程中，控制机器人